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add basic gps yaw fusion test

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kamilritz
2020-05-20 08:52:52 +02:00
committed by Mathieu Bresciani
parent 21f49c22dc
commit 39c09b8092
6 changed files with 156 additions and 0 deletions
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test/sensor_simulator/ekf_wrapper.h
+6
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@@ -64,6 +64,10 @@ public:
void disableGpsFusion();
bool isIntendingGpsFusion() const;
void enableGpsHeadingFusion();
void disableGpsHeadingFusion();
bool isIntendingGpsHeadingFusion() const;
void enableFlowFusion();
void disableFlowFusion();
bool isIntendingFlowFusion() const;
@@ -86,7 +90,9 @@ public:
bool isWindVelocityEstimated() const;
Eulerf getEulerAngles() const;
float getYawAngle() const;
matrix::Vector<float, 4> getQuaternionVariance() const;
int getQuaternionResetCounter() const;
private:
std::shared_ptr<Ekf> _ekf;